/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer_ros/urdf_reader.h"

#include <string>
#include <vector>

#include "cartographer_ros/msg_conversion.h"
#include "urdf/model.h"

namespace cartographer_ros
{
  std::vector<geometry_msgs::msg::TransformStamped> ReadStaticTransformsFromUrdf(
      const std::string &urdf_filename, std::shared_ptr<tf2_ros::Buffer> tf_buffer)
  {
    urdf::Model model;
    CHECK(model.initFile(urdf_filename));
    std::vector<urdf::LinkSharedPtr> links;
    model.getLinks(links);
    std::vector<geometry_msgs::msg::TransformStamped> transforms;
    for (const auto &link : links)
    {
      if (!link->getParent() || link->parent_joint->type != urdf::Joint::FIXED)
      {
        continue;
      }

      const urdf::Pose &pose =
          link->parent_joint->parent_to_joint_origin_transform;
      geometry_msgs::msg::TransformStamped transform;
      transform.transform =
          ToGeometryMsgTransform(cartographer::transform::Rigid3d(
              Eigen::Vector3d(pose.position.x, pose.position.y, pose.position.z),
              Eigen::Quaterniond(pose.rotation.w, pose.rotation.x,
                                 pose.rotation.y, pose.rotation.z)));
      transform.child_frame_id = link->name;
      transform.header.frame_id = link->getParent()->name;
      tf_buffer->setTransform(transform, "urdf", true /* is_static */);
      transforms.push_back(transform);
    }
    return transforms;
  }

} // namespace cartographer_ros
